INACCURACY COMPENSATION AND PIECEWISE CIRCULAR APPROXIMATION OF PARAMETRIC PATHS

被引：2

作者：

BEAZEL, V

RED, E

机构：

[1] Mechanical Engineering Dept, Brigham Young University, Provo, Utah

来源：

ROBOTICA | 1993年 / 11卷

关键词：

PARAMETRIC PATHS; PIECEWISE APPROXIMATION; TOOL PATH;

D O I：

10.1017/S0263574700016969

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A complication to the process of remotely generating tool paths is that mechanism controllers are typically capable of commanding a robot or machine tool to move along linear and circular arc space segments. This paper considers the decomposition of parametrically described, higher-order curvilinear paths into piecewise linear and circular path segments, thereby reducing the data required to store a higher order path. Whereas inaccuracy calibration techniques for mechanisms such as robots have previously focused on the compensation of a particular space point or pose, this paper considers the problem of calibrating a continuous tool path to within a specified tolerance. A systematic method is applied to determine how closely spaced decomposition segments must be to ensure that the decomposed path satisfies the required tolerances.

引用

页码：413 / 425

页数：13

共 13 条

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[2]

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